#ifndef IMUINTEGRATION_H
#define IMUINTEGRATION_H
#include <iostream>
#include <vector>

#include "math_utils.h"
#include "state.h"

class PoseObserve {
public:  
   static void ComputeResidualAndJacobianPoseGraph(const State& state, const State& pose_state, Eigen::Matrix<double, 3, 1> &residualXi, Eigen::Matrix<double, 3, 3> &jacobianXi);
};

#endif 
